MULTIPLE WHEEL-LEG HYBRID MOBILE ROBOT AND CONTROL METHOD

摘要

A mobile robot with multiple hybrid wheel-legs and a control method thereof are provided to tilt the upper body or regulate the height of the robot using height difference generated through control of the legs. A mobile robot(100) comprises legs(20), leg driving parts(30), a body(40), a memory, an upper control part, a travel control part, and a microcomputer. The legs are mounted on manual wheels(10). The leg driving parts raise or lower the legs. The body unites the leg driving parts. The memory stores operation program including driving algorithm. The upper control part set the travel direction and moving command. The travel control part determines the rotational angle of the leg driving parts according to the travel direction of the upper control part. The microcomputer includes a leg controller which controls a first and a second motor(34,36) to follow the rotational angle set by the travel control part.